Buckingham Palace has confirmed that the Duke of Edinburgh will not attend the opening ceremony of the Paralympic Games.

Prince Philip was due to attend the event with the Queen as she officially opens the ceremony, but will instead remain at the family's private Balmoral estate in Scotland.

Buckingham Palace said the Duke, 91, will not attend the ceremony, which is set to take place on August 29 in London, although he "continues to recover well" following the recurrence of a bladder infection.

On Monday, Philip was discharged from Aberdeen Royal Infirmary after a five night stay in the hospital.

Buckingham Palace had described the move as a "precautionary measure", after the recurrence of an infection he suffered shortly before the Diamond Jubilee concert on June 4.

The Duke, who is the longest-serving royal consort in British history, also spent four nights in hospital over Christmas following an operation to clear a blocked heart artery.